EP2764764A1 - Procédé de réglage de paramètres de travail d'une machine de récolte - Google Patents

Procédé de réglage de paramètres de travail d'une machine de récolte Download PDF

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Publication number
EP2764764A1
EP2764764A1 EP14152145.0A EP14152145A EP2764764A1 EP 2764764 A1 EP2764764 A1 EP 2764764A1 EP 14152145 A EP14152145 A EP 14152145A EP 2764764 A1 EP2764764 A1 EP 2764764A1
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EP
European Patent Office
Prior art keywords
control device
map
harvester
field
harvesting
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Granted
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EP14152145.0A
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German (de)
English (en)
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EP2764764B1 (fr
Inventor
Lutz Bischoff
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Deere and Co
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Deere and Co
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull

Definitions

  • Agricultural harvesters are used to harvest plants from a field. In the harvester, processing takes place to treat the crop for later processing. So the crop is chopped in a forage harvester and threshed in a combine harvester, separated and cleaned. In these processing processes different working parameters of the harvester are set, in a forage harvester, for example, the cutting length and possibly a Einwirkintenstician a conditioning and combine harvester, the Dreschtrommelwindiere, the Dreschspalt, the speed of the cleaning fan and the screen opening, and in all harvesting machines, the propulsion speed, which respective throughput determined.
  • the manufacturer recommends basic settings based on empirical values for the working bodies such as threshing unit, residual grain separation and cleaning device. Due to the large variation of actual properties of the crop, these suggestions can only be first approximations. The operator must, depending on the given requirements (eg harvest with low losses or in as short as possible Time) and crop conditions to optimize the settings to fully utilize the full capacity of the machine. This can be done purely manually according to one's own strategy, in dialogue with assistance systems (cf. EP 2 165 591 A1 ) or automatically with an automatic adjustment ( EP 2 401 904 A2 ) respectively.
  • a fundamental problem remains that the separation, separation and cleaning processes in a combine harvester are very complex and their results can only be monitored by a few sensors.
  • sensors are used, which look ahead of the harvesting machine on the Erntegut ashamed to predict its properties (eg density, maturity) to determine and on the basis of the determined property working parameters and settings of the harvester, such as the propulsion speed ( DE 101 30 665 A1 ).
  • the DE 44 31 824 C1 proposes, for example, to store the yield data for grain and straw throughput, grain losses and set nominal values of operating parameters georeferenced in a map during a first harvesting process. During the next harvesting process, the data from the map are retrieved in a georeferenced manner in order to derive the respective working parameters of the harvesting machine. It is possible to insert a subordinate control loop, which is based on a so-called backward control for the driving speed, in which the respective throughputs of the combine are detected locally and used to determine the driving speed to a constant throughput and / or constant adjustments of the working organs of the To get a combine harvester.
  • the DE 10 2005 000 770 B3 describes a procedure for the automatic control of a combine harvester, in which, based on georeferenced data obtained during the biomass development, a target map is created which serves as the control basis of the combine harvester. During the harvesting process, a control of the propulsion speed and the adjustment of the working parameters of the combine harvester takes place based on the nominal map in order to achieve an acceptable threshing quality and losses.
  • the object of the present invention is seen to provide a system and a method for the automatic adjustment of processing parameters of an agricultural machine that does not have the disadvantages mentioned or to a lesser extent.
  • step (e) by the controller identify on the map routes along a path of the harvester across the field where field characteristics are within predetermined limits and over a threshold for the longitude distances, and that (f ) Calibration data for the sensor and / or parameters for the fine adjustment of the working parameter and / or the operator input for the step (d) when driving and harvesting at least some of the identified in step (e) routes determined and used in subsequent steps (d).
  • an electronic map is created in which properties of a field are recorded georeferenced. These properties may be soil properties (soil type, soil moisture), topographical characteristics (altitude above sea level, angle of inclination and orientation) and / or information that can be used to derive the field density of the field, such as plant and plant data / or net yield from previous harvest operations or site-specific fertilizer application data from a precision agriculture perspective.
  • soil properties soil type, soil moisture
  • topographical characteristics altitude above sea level, angle of inclination and orientation
  • information that can be used to derive the field density of the field, such as plant and plant data / or net yield from previous harvest operations or site-specific fertilizer application data from a precision agriculture perspective.
  • This card can be created on a stationary computer in an office or on a mobile computer or in the electronic control device of the harvester and is loaded in the memory of the harvester control unit in step (a).
  • step (b) at least one working parameter of the harvester is derived during a harvesting operation by the control device taking into account a characteristic of the field taken from the map for a harvesting position.
  • the position of the harvesting machine is thus determined during the harvesting process, for which purpose a known satellite-based or terrestrial-based position-determining system, such as GPS, Galileo, Glonass and / or an inertial navigation system can be used.
  • a suitable control signal is given to an actuator of the harvesting machine.
  • a fine adjustment of the working parameter determined in step (b) is carried out in step (d).
  • a control of the working parameter can be carried out by the control device, which uses the feedback value to a measured value of a result of the harvesting process that can be influenced by the actuator.
  • the control device can carry out the fine adjustment on the basis of an established relationship between a work parameter determined in step (b) and a work parameter to be set based on an operator input.
  • an operator input is taken into consideration, from which an (absolute or relative) change of the working parameter determined in step (b) is derived.
  • step (c) is repeated with the now finely tuned (based on the feedback value of the sensor or operator input) operating parameters. Future runs of step (c) based only on the values from the map will be eliminated once sufficient data is available for step (d). The actuators are then only adjusted based on the result of step (d).
  • step (b) Propulsion rate as expected to be reached setpoint, expected throughput compared to the actual throughput and the propulsion rate in the event of a deviation compensated raised or lowered to obtain a desired setpoint of the throughput.
  • the propulsion speed is increased by the mentioned percentage when the operator input is taken into account. In this case, sensors do not have to be used, but an open control loop is obtained whose setpoint is corrected by the operator input.
  • the present invention proposes that the controller draw in a step (e) from the map along a path of the harvester over the field where properties of the field are homogeneous within predetermined limits and over a threshold for the longitude distances. Accordingly, sufficiently long sections of a path to be traveled by the harvester over the field are identified, on which one or more properties are sufficiently similar or identical. These sections are therefore particularly well suited to determine in a step (f) calibration data for the sensor and / or parameters for the fine adjustment of the working parameter and / or the aforementioned operator input. These calibration data and / or parameters and / or operator input is or are determined when driving on and off at least some of the routes identified in step (e) and used in subsequent steps (d).
  • An advantage of using georeferenced maps is the ability to pre-estimate the contiguous size of areas with near similar properties, as well as the boundaries of these areas. This makes it possible to significantly improve the dynamics and stability of control loops.
  • coherent larger areas can be used to calibrate sensors, to tune the control models to the real conditions, or to make an adjustment optimization for this area.
  • this area should be ignored (filtered) or whether even a more aggressive regulation must be carried out.
  • it can be estimated in advance whether the transitions between different areas are more fluent or sharper, so that the dynamics of the control can also be adjusted accordingly there.
  • the map is not only used for (predictive) adjustment of the working parameter of the harvester, but also serves to identify distances of the crop path, on which calibration data for the sensor and / or parameters for the fine adjustment of the working parameter and / or the operator input be determined, which are then used for automatic, more accurate fine adjustment of the working parameter.
  • step (f) the calibration data and / or parameters for the fine adjustment of the working parameter for step (d) can be determined by an operator and entered into the control device or automatically determined by the control device.
  • the working parameter can be, for example, the advancing speed of the harvester, a threshing mechanism setting (rotational speed, threshing gap), a cleaning setting (fan speed, sieve opening, sieve oscillation frequency) and / or a cutter setting (height, lateral inclination).
  • the sensor may be, for example, a grain loss sensor and / or a flow rate sensor.
  • step (d) there may be differences between a setpoint value for a working parameter derived only from the map in step (b) and a measured value determined by means of a sensor, which lead to readjustment of the working parameter. These differences can also be used to update the properties and / or position of the card.
  • the parameters for the fine adjustment of the working parameter determined in step (f) can be variables of mathematical models or of machine learning algorithms and / or relate to the selection of a control strategy.
  • control device additionally takes into account the measured value of a prospective crop sensor, e.g. a camera, a radar sensor or a laser scanner.
  • a prospective crop sensor e.g. a camera, a radar sensor or a laser scanner.
  • step (b) the control device may ignore changes in the characteristics of the field in the map if these are only valid for distances that exceed a minimum value.
  • FIG. 1 shows a self-propelled harvester in the form of a combine harvester 10 with a chassis 12, which is supported by driven front wheels 14 and steerable rear wheels 16 on the ground and is moved away from them.
  • the wheels 14, 16 are rotated by means not shown drive means in rotation to the combine 10 z. B. to move over a field to be harvested.
  • directional information such as front and rear, refer to the direction of travel V of the combine harvester 10 in the harvesting operation, which in the FIG. 1 goes to the left.
  • a harvesting header 18 in the form of a cutting unit is detachably connected to harvest harvested crops in the form of crops or other threshable culottes from the field during harvesting operation and feed them up and back by an inclined conveyor assembly 20 to an axial threshing unit 22 ,
  • the mixture containing grains and impurities passing through threshing baskets and grates in the axial threshing unit 22 passes into a cleaning device 26.
  • Grain cleaned by the cleaning device 26 is fed to a grain elevator by means of a grain screw, which conveys it to a grain tank 28.
  • the cleaned grain from the grain tank 28 may be discharged through a discharge system with a cross auger 30 and a discharge conveyor 32.
  • the systems mentioned are driven by an internal combustion engine and controlled and controlled by an operator from a driver's cab 34.
  • a control device 54 controls (via valves not shown) the position of an actuator 36 for changing the height of the header 18 above the ground, the position of an actuator 38 for adjusting the rotational speed of a blower 40 of the cleaning device 26, of two actuators 42 for adjusting the opening width of sieves 44 of the cleaning device 26 and a Actuator 84 for specifying the propulsion speed of the combine 10.
  • Another controlled by the controller 54 actuator could specify the height of a reel of the header 18.
  • an actuator 48 controls the speed of the axial threshing 22 and an actuator 50 adjusts the position of the concave to adjust the size of the threshing gap.
  • the mentioned actuators 36, 38, 42, 84, 48, 50 are adjusted by the control device 54.
  • a flow rate sensor 46 detects the throughput in the feederhouse assembly 20, for example, based on a drive torque of a chain conveyor of the feederhouse.
  • a first grain loss sensor 52 detects the amount of lost grains in the crop residue stream discharged from the axial flow 22 which is discharged to the field through an ejection drum 56 directly or via a straw chopper (not shown) at the rear of the combine 10.
  • a second grain loss sensor 58 detects the amount of lost grains in the crop residue stream discharged from the top screen of the cleaner 26, which is discharged to the field by the mentioned straw chopper or a separate coffee distributor.
  • the sensors 46, 52 and 58 are signal transmitting connected to the control device 54.
  • the control device 54 is furthermore connected to a memory device 64, a position determination device 62 in the form of an antenna for receiving signals of a satellite-based position-determining system and to an operator interface 68 with input means (keys) and a display.
  • FIG. 2 shows a flow chart, after which the control device 54 of the combine 10 proceeds when a field is harvested.
  • a map for the respective field is loaded into the storage device 64.
  • This map stores georeferenced data for properties of the field.
  • An example of such a card is in FIG. 3 shown. It contains position-referenced characteristics of the field 304, which are, for example, the soil type and / or the yield measured at the last harvest. These properties are divided into a total of 6 classes in the map shown.
  • the map contains topographical data of field 304 (altitude data or contour lines 300).
  • This map may have been generated by the combine harvester 10 on the basis of data from the flow rate sensor 46 and (three-dimensional) position data from the position-determining device 62 itself and has remained in the storage device 64 since then, or it has been arbitrarily (eg from another combine or from aerial images or by an exploratory vehicle or aircraft or from data for the precision agricultural management of the field) from an external computer wirelessly (via a radio link) or a memory card into the memory device 64.
  • a planned path 302 is stored in the memory device 64, which the combine harvester 10 will cover on the field 304 during the harvest. For this purpose, reference may be made to known methods of path planning.
  • the controller 54 determines the current position of the combine 10 based on the position detector signal (step 102) and derives therefrom a position that the combine 10 will reach in a predetermined time (e.g., 2 seconds). This forward-looking operation is advantageous because of the response times of the actuators 36, 38, 42, 84, 48, 50.
  • the control device 54 extracts the associated property of the field 304 from the map and derives therefrom suitable working parameters of the combine 10 and setting values derived therefrom for the actuators 36, 38, 42, 84, 48, 50.
  • an expected throughput can be calculated as a working parameter and from this the propelling speed of the combine harvester 10 can be derived for the purpose of controlling the actuator 84.
  • the settings of the remaining actuators 38, 42, 84, 48, 50 can be determined.
  • the steps 100 and 102 for the georeferenced provision of the data from the map (and possibly the derivation of the working parameter in step 104) on the one hand and the determination of the setting values for the actuators 36, 38, 42, 84, 48, 50 in the steps 104, 106 and 116, on the other hand, may be performed in different processes (or processors) of the controller 54.
  • the setting of the actuator 36 and possibly an actuator, not shown, for adjusting the lateral inclination of the header 18 and / or optionally separately to compensate for a side slope height adjustable front wheels 14 is determined based on the topographic data of the map, see. WO 2008/088916 A1 . From the topographical data derived values for a lateral inclination of the combine 10 on the side slope and / or an inclination of the combine 10 in the forward direction, signals for adjusting the actuators 42 for the adjustment of the sieve opening can be derived.
  • the harvesting of the combine harvester 10 at harvest is done manually by the combine operator based on the path 302 stored in the map and the output of the position determining system 62, either automatically by means of a steering actuator (not shown) for adjusting the steering angle of the rear wheels 16 or a display on the operator interface 68.
  • step 106 the respective working parameters or set values derived therefrom are determined by the Control device 54 to the actuators 36, 38, 42, 84, 48, 50 sent, so that they automatically enter the fixed respectively by the control device 54 position.
  • step 108 in which it is queried whether a new adjustment of the control device 54 is necessary or useful.
  • a readjustment is particularly appropriate when the combine 10 resumes its work (in the morning) when a field is harvested with crop other than previously or if a certain time has elapsed since the last readjustment, since crop characteristics with continuous time of day, especially at Change the sunshine.
  • the rebalance serves to provide data for fine tuning of the combine 10 in order to more precisely adapt the operating parameters set in step 104 to the particular conditions.
  • step 114 follows, which will be discussed in more detail below. Otherwise, step 110 follows, in which the control unit 54 checks whether the subsequently traveled section of the path 302 has a constant property preferably including the topography over a sufficiently long distance (above a threshold of, for example, 100 m) within predetermined limits. This ensures that sufficiently homogeneous conditions prevail during the optionally subsequent step 112 in order to achieve reproducible results and thus suitable data for the fine adjustment.
  • the topography can be considered, because the crop has certainly different properties on northern slopes than on southern slopes. If the route is not suitable, step 114 follows, otherwise step 112.
  • step 112 the said data for fine adjustment are now obtained.
  • the combine harvester 10 is first driven over the field at a predetermined speed or at a speed leading to a specific throughput (sensor 46), preferably over the entire section of the path 302 identified in step 110 or a part thereof.
  • calibration of the grain loss sensors 52 and / or 58 can be carried out, for example, with a loss test dish (cf. DE 101 50 080 A1 ) or by counting the grains behind the combine 10 by the operator or by means of an image processing system ( DE 10 2012 223 434 A1 the disclosure of which is incorporated by reference into the present documentation).
  • the operator may check one or more of the results of the work process, such as the purity of the grain in the grain tank 28 or the composition of the tailings, and make appropriate inputs to the controller 54 via the operator interface 68. For this, let the disclosure of the EP 1 297 733 A1 and the EP 1 371 278 A1 directed. The controller 54 then derives a new relationship between the field property known from the map and the working parameter used later in step 114. There is also the possibility that the operator simply inputs an additive correction value or multiplicative correction factor if he is not at peace with a specification of the control unit for a working parameter.
  • step 112 may also be based solely on data obtained from the controller 54 by using these sensor values to more accurately set one or more operating parameters.
  • the broken grain content in the grain elevator can be determined by means of a camera or a UV sensor and used to determine a new relationship between the known from the map property of the field and the working parameter (here: Threshold speed and - gap).
  • the fine-tuning data obtained in step 114 may also relate to quantities of mathematical models for the regulation of operating parameters, e.g. a mathematical model for setting the actuators 38, 42 for the cleaning device 26. It is also possible that the said data are quantities of machine learning algorithms, e.g. of neural networks and / or the selection of a control strategy, i. For example, switch between a throughput control and a loss-based control.
  • step 118 a query is then made as to whether step 112 has been completed, i. sufficient data were obtained for the fine adjustment. In this case, it is possible to repeat step 112 on a further path on which the same or other properties of the field apply. If other properties exist, it is possible to obtain second fine-tuning data for these properties, which can be assigned to these other properties. Data for fine adjustment at intermediate values of the properties can then be generated immediately or later by interpolation. If the result of step 118 is that the fine-tuning data has not yet been found, step 110 follows again, otherwise step 114.
  • step 114 a fine adjustment of the working parameters, which were previously determined in step 104 on the basis of the map.
  • the data from the step 104 is initially used.
  • the Fine adjustment data from steps 108 to 112 are used to find an improved definition of the working parameters based on the working parameters of step 104 and the fine adjustment data, and these or derived set values to the actuators 36, 38, 42, 84, 48 , 50 to send.
  • step 114 the initial values of the grain loss sensors 52, 58 can be improved on the basis of the found calibration values and used for the automatic control of operating parameters of the combine 10.
  • values of the flow rate sensor 46 can be calibrated and thus more accurately detected.
  • the relationships between the characteristics of the field 304 in the map and the optimized operating parameters to be set for setting the actuators 36, 38, 42, 84, 48, 50, determined in step 112 can also be used.
  • the attained settings are more accurate than the settings based on step 104 alone and result in better work results.
  • step 116 it is then queried whether the card is sufficiently accurate. If there are no major deviations between the operating parameters of step 104 and the operating parameters of step 114, the map is sufficiently accurate and step 104 is again followed to determine one or more operating parameters for the next position of the combine 10 along path 302. In doing so, step 106 is skipped after the rebalance has been completed, because the fine-tuned operating parameters are set directly in step 114.
  • step 116 indicates that the map is not sufficiently accurate, the map is corrected in step 120.
  • an inaccurate throughput value in the map may be replaced by a throughput value detected by the flow rate sensor 46, or an average value may be entered from a throughput contained in the map and detected by the flow rate sensor 46. It is also possible to shift boundaries between adjacent classes if they have not been found to be correct based on values of a sensor or position determining system 62.
  • Step 120 is followed by step 104 (with a modified map, step 100).
  • steps 104 to 114 information about the respective steps performed by the control unit 54 is displayed to the operator on the user interface 68 by the control unit 54.
  • instructions are displayed to the operator regarding the steps to be taken by him, eg, to count the number of lost grains on a particular area and input to the control unit 54 via the operator interface 68.
  • the combine harvester 10 can automatically stop to allow the operator to perform necessary actions that are necessary to the operator on the machine Display device of the user interface 68 are displayed.
  • the map can be displayed on the display device of the user interface 68, analogous to the representation in FIG FIG.
  • settings selected by the control unit 54 for the actuators 36, 38, 42, 84, 48, 50, values derived from signals from the sensors 46, 52, 58 and / or any operating parameters of the combine 10 can be displayed on the display of the user interface 68 are displayed.
  • steps 106, 108, 114, and 116 may be skipped if a change in setting would only occur over a relatively short threshold distance, such as at the lower right edge of the card FIG. 3 on turning turn 306 in the headland.
  • the output of a look-ahead sensor 60 which may be a crop density detector in front of the combine 10, may be used to produce more accurate operating parameters to provide stochastic predictions from the map Balance sizes, such as game damage, insect feeding or crops.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Combines (AREA)
  • Harvester Elements (AREA)
EP14152145.0A 2013-02-07 2014-01-22 Procédé de réglage de paramètres de travail d'une machine de récolte Active EP2764764B1 (fr)

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DE102013201996.3A DE102013201996A1 (de) 2013-02-07 2013-02-07 Verfahren zur Einstellung von Arbeitsparametern einer Erntemaschine

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EP3348130A1 (fr) * 2017-01-11 2018-07-18 Deere & Company Commande de vitesse prédictive d'une moissonneuse basée sur un modèle
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US20140215984A1 (en) 2014-08-07
US9226449B2 (en) 2016-01-05

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